ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE > Class Template Reference

#include <node_handle.h>

Inheritance diagram for ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >:

List of all members.

Public Member Functions
bool	advertise (Publisher &p)
template<typename MReq , typename MRes , typename ObjT >
bool	advertiseService (ServiceServer< MReq, MRes, ObjT > &srv)
virtual bool	connected ()
Hardware *	getHardware ()
bool	getParam (const char *name, int *param, int length=1, int timeout=1000)
bool	getParam (const char *name, float *param, int length=1, int timeout=1000)
bool	getParam (const char *name, char **param, int length=1, int timeout=1000)
void	initNode ()
void	initNode (char *portName)
void	logdebug (const char *msg)
void	logerror (const char *msg)
void	logfatal (const char *msg)
void	loginfo (const char *msg)
void	logwarn (const char *msg)
void	negotiateTopics ()
	NodeHandle_ ()
Time	now ()
virtual int	publish (int id, const Msg *msg)
void	requestSyncTime ()
template<typename MReq , typename MRes >
bool	serviceClient (ServiceClient< MReq, MRes > &srv)
void	setNow (Time &new_now)
virtual int	spinOnce ()
template<typename SubscriberT >
bool	subscribe (SubscriberT &s)
void	syncTime (uint8_t *data)
Protected Attributes
int	bytes_
int	checksum_
bool	configured_
Hardware	hardware_
int	index_
uint32_t	last_msg_timeout_time
uint32_t	last_sync_receive_time
uint32_t	last_sync_time
uint8_t	message_in [INPUT_SIZE]
uint8_t	message_out [OUTPUT_SIZE]
int	mode_
uint32_t	nsec_offset
Publisher *	publishers [MAX_PUBLISHERS]
uint32_t	rt_time
uint32_t	sec_offset
Subscriber_ *	subscribers [MAX_SUBSCRIBERS]
int	topic_
Private Member Functions
void	log (char byte, const char *msg)
bool	requestParam (const char *name, int time_out=1000)
Private Attributes
bool	param_recieved
rosserial_msgs::RequestParamResponse	req_param_resp

---

Detailed Description

template<class Hardware, int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
class ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >

Definition at line 97 of file node_handle.h.

---

Constructor & Destructor Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::NodeHandle_

(

)

[inline]

Definition at line 118 of file node_handle.h.

---

Member Function Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::advertise

(

Publisher &

p

)

[inline]

Definition at line 336 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

template<typename MReq , typename MRes , typename ObjT >

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::advertiseService

(

ServiceServer< MReq, MRes, ObjT > &

srv

)

[inline]

Definition at line 364 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

virtual bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::connected

(

)

[inline, virtual]

Implements ros::NodeHandleBase_.

Definition at line 285 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

Hardware* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getHardware

(

)

[inline]

Definition at line 140 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam	(	const char *	name,
		int *	param,
		int	length = 1,
		int	timeout = 1000
	)		[inline]

Definition at line 508 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam	(	const char *	name,
		float *	param,
		int	length = 1,
		int	timeout = 1000
	)		[inline]

Definition at line 521 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam	(	const char *	name,
		char **	param,
		int	length = 1,
		int	timeout = 1000
	)		[inline]

Definition at line 534 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::initNode

(

)

[inline]

Definition at line 145 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::initNode

(

char *

portName

)

[inline]

Definition at line 154 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::log	(	char	byte,
		const char *	msg
	)		[inline, private]

Definition at line 459 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logdebug

(

const char *

msg

)

[inline]

Definition at line 467 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logerror

(

const char *

msg

)

[inline]

Definition at line 476 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logfatal

(

const char *

msg

)

[inline]

Definition at line 479 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::loginfo

(

const char *

msg

)

[inline]

Definition at line 470 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logwarn

(

const char *

msg

)

[inline]

Definition at line 473 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::negotiateTopics

(

)

[inline]

Definition at line 390 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

Time ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::now

(

)

[inline]

Definition at line 313 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

virtual int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::publish	(	int	id,
		const Msg *	msg
	)		[inline, virtual]

Implements ros::NodeHandleBase_.

Definition at line 421 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::requestParam	(	const char *	name,
		int	time_out = 1000
	)		[inline, private]

Definition at line 491 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::requestSyncTime

(

)

[inline]

Definition at line 293 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

template<typename MReq , typename MRes >

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::serviceClient

(

ServiceClient< MReq, MRes > &

srv

)

[inline]

Definition at line 378 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::setNow

(

Time &

new_now

)

[inline]

Definition at line 323 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

virtual int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::spinOnce

(

)

[inline, virtual]

Implements ros::NodeHandleBase_.

Definition at line 183 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

template<typename SubscriberT >

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::subscribe

(

SubscriberT &

s

)

[inline]

Definition at line 351 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::syncTime

(

uint8_t *

data

)

[inline]

Definition at line 300 of file node_handle.h.

---

Member Data Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::bytes_ [protected]

Definition at line 165 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::checksum_ [protected]

Definition at line 168 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::configured_ [protected]

Definition at line 170 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

Hardware ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::hardware_ [protected]

Definition at line 100 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::index_ [protected]

Definition at line 167 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_msg_timeout_time [protected]

Definition at line 175 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_sync_receive_time [protected]

Definition at line 174 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_sync_time [protected]

Definition at line 173 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint8_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::message_in[INPUT_SIZE] [protected]

Definition at line 108 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint8_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::message_out[OUTPUT_SIZE] [protected]

Definition at line 109 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::mode_ [protected]

Definition at line 160 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::nsec_offset [protected]

Definition at line 106 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::param_recieved [private]

Definition at line 488 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

Publisher* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::publishers[MAX_PUBLISHERS] [protected]

Definition at line 111 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

rosserial_msgs::RequestParamResponse ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::req_param_resp [private]

Definition at line 489 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::rt_time [protected]

Definition at line 103 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::sec_offset [protected]

Definition at line 106 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

Subscriber_* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::subscribers[MAX_SUBSCRIBERS] [protected]

Definition at line 112 of file node_handle.h.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>

int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::topic_ [protected]

Definition at line 166 of file node_handle.h.

---

The documentation for this class was generated from the following file:

• node_handle.h